gz_waves: FFT backend - Part 4/4#885
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…I registrar Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
… FFT the default in open_water.sdf Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
Make the FFT engine build on the rebased stack and match its conventions: - ParticleVelocity/Normal return gz::math::Vector3d (the IWaveField interface is now gz::math); Eigen stays internal to EncinoWaves and the grid accessors. - std::cerr/std::cout -> gzerr/gzmsg (wire gz-common into the engine target). - Members switch to gz-style this->member (no trailing underscore). - Wire gz-math/gz-common into CMake + package.xml. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Agüero <caguero@honurobotics.com>
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…ence) ParticleVelocity was a zero stub, so buoyancy/drag saw still water under the FFT backend. EncinoWaves exposes no velocity field or public spectral coefficients, so compute the Eulerian water velocity as the time derivative of the displacement field (∂Dx/∂t, ∂Dy/∂t, ∂η/∂t): each Update propagates a scratch state at t+dt and finite-differences it into velocity grids that ParticleVelocity bilinear-samples. Adds two tests. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Agüero <caguero@honurobotics.com>
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Fourth in the series. Adds the second wave engine, the FFT spectral backend built on the EncinoWaves library, and wires it into the visual and the demo world as a selectable alternative to Gerstner.
How to test it?
What this PR adds
FFTWaveSimulation,libgz-waves-provider-fft) — a plainIWaveFieldbacked by EncinoWaves (TMA/JONSWAP/PM spectra + directional spreading + dispersion).MakeFFTWaveField()is its factory.gz-sim-waves-fft-system) — aWavesSystemBasesubclass that builds the FFT engine and writes theWavefieldcomponent. Its doc block documents the full parameter surface and the<sea_state>precedence rules.gz-sim-waves-fft-gui) — registers the"fft"factory in the GUI soWaterVisualcan rebuild a private FFT engine; same bare, no-ISystem, static-init form as the Gerstner registrar.test/fft_test.cc, 18 tests).gz-sim-waves-fft-guito thewater_surfacemodel (next to the Gerstner registrar) and offers FFT as a commented alternative inopen_water.sdf. Gerstner stays the active default — flip by commenting the Gerstner<plugin>and uncommenting the FFT one.